
// 2023/10/27: 首个版本
// 2024/7/3: 基于新样本框架和vehicle-sample-v5

#ifndef VEHICLE_FUNC_H
#define VEHICLE_FUNC_H

#include "spadas.h"
#include "vehicle-sample-v5.h"

namespace vehicle_func
{
	using namespace spadas;
	using namespace vehicle_sample_v5;

    OptionalDouble calcCurvature(Double speed, OptionalDouble yawRate, OptionalDouble steer, OptionalDouble steerAngleRatio, OptionalDouble wheelBase);
    Array<Point2D> calcTrajectory(Optional<VehicleSample> previousVS, Double currentTimestamp);
}

#endif